\hypertarget{classHomography33}{}\doxysection{Homography33 Class Reference}
\label{classHomography33}\index{Homography33@{Homography33}}


Compute 3x3 homography using Direct Linear Transform.  




{\ttfamily \#include $<$Homography33.\+h$>$}

\doxysubsection*{Public Member Functions}
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\item 
\mbox{\Hypertarget{classHomography33_a73a0a27464663eeba0adc76f4dfedd4e}\label{classHomography33_a73a0a27464663eeba0adc76f4dfedd4e}} 
\mbox{\hyperlink{classHomography33_a73a0a27464663eeba0adc76f4dfedd4e}{Homography33}} (const std\+::pair$<$ float, float $>$ \&optical\+Center)
\begin{DoxyCompactList}\small\item\em Constructor. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classHomography33_aa7488929387981810758f62382ec1aeb}\label{classHomography33_aa7488929387981810758f62382ec1aeb}} 
void {\bfseries set\+Correspondences} (const std\+::vector$<$ std\+::pair$<$ float, float $>$ $>$ \&src\+Pts, const std\+::vector$<$ std\+::pair$<$ float, float $>$ $>$ \&dst\+Pts)
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\mbox{\Hypertarget{classHomography33_aecfe06942d1f56390d7c7d8ad0452def}\label{classHomography33_aecfe06942d1f56390d7c7d8ad0452def}} 
Eigen\+::\+Matrix3d \& \mbox{\hyperlink{classHomography33_aecfe06942d1f56390d7c7d8ad0452def}{getH}} ()
\begin{DoxyCompactList}\small\item\em Note that the returned H matrix does not reflect cxy. \end{DoxyCompactList}\item 
\mbox{\Hypertarget{classHomography33_a45bea00c0e8737da7dde3441d3a568c1}\label{classHomography33_a45bea00c0e8737da7dde3441d3a568c1}} 
const std\+::pair$<$ float, float $>$ {\bfseries get\+CXY} () const
\item 
\mbox{\Hypertarget{classHomography33_a43ae634ab46fe0620859cc2d35d556a6}\label{classHomography33_a43ae634ab46fe0620859cc2d35d556a6}} 
void {\bfseries compute} ()
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\mbox{\Hypertarget{classHomography33_a5f7c83a5ae5987ee6276447d2114dc28}\label{classHomography33_a5f7c83a5ae5987ee6276447d2114dc28}} 
std\+::pair$<$ float, float $>$ {\bfseries project} (float worldx, float worldy)
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\doxysubsection{Detailed Description}
Compute 3x3 homography using Direct Linear Transform. 

The documentation for this class was generated from the following files\+:\begin{DoxyCompactItemize}
\item 
calico/third\+\_\+party/apriltags/apriltags/Homography33.\+h\item 
calico/third\+\_\+party/apriltags/src/Homography33.\+cc\end{DoxyCompactItemize}
